Vehicle interior lighting system

ABSTRACT

A vehicle interior lighting system includes an illuminating unit provided in an interior of a vehicle, an imaging unit that captures a depth image including a distance to an object person in the interior, an estimating unit that estimates a three-dimensional human body model of an object person from a depth image captured by the imaging unit, a predicting unit that predicts a movement intention of an object person in an interior based on the human body model estimated by the estimating unit, and an operation controller that controls lighting of the illuminating unit according to the movement intention predicted by the predicting unit.

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present application claims priority to and incorporates by referencethe entire contents of Japanese Patent Application No. 2018-122047 filedin Japan on Jun. 27, 2018.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to a vehicle interior lighting system.

2. Description of the Related Art

In an interior of a vehicle, a vehicle interior lighting device forilluminating the vehicle interior is disposed. For example, JapanesePatent Application Laid-open No. 2018-62299 discloses a vehicle interiorlamp that is operated by an occupant of a vehicle, provided with aswitch for turning on/off an LED, and disposed on a wall surface such asa ceiling of a vehicle interior.

By the way, with the vehicle interior light described in theabove-mentioned Japanese Patent Application Laid-open No. 2018-62299,when an occupant moves to a target position in a vehicle difficult tooperate a switch at night, for example, the occupant moves to a positionof the switch to operate the switch or needs to ask a driver, otheroccupants, or the like to operate the switch.

SUMMARY OF THE INVENTION

The present invention has been made in view of the above circumstances,and it is an object of the present invention to provide a vehicleinterior lighting system capable of improving convenience of an objectperson who moves in a vehicle.

In order to solve the above mentioned problem and achieve the object, avehicle interior lighting system according to one aspect of the presentinvention includes an illuminating unit provided in an interior of avehicle; an imaging unit that captures a depth image including adistance to an object person in the interior; an estimating unit thatestimates a three-dimensional human body model of the object person fromthe depth image captured by the imaging unit; a predicting unit thatpredicts a movement intention of the object person in the interior basedon the human body model estimated by the estimating unit; and anoperation controller that controls lighting of the illuminating unitaccording to the movement intention predicted by the predicting unit.

According to another aspect of the present invention, in the vehicleinterior lighting system, it is preferable that the illuminating unithas a plurality of lighting devices, and the operation controller turnson the lighting devices near the object person whose movement intentionis predicted by the predicting unit.

According to still another aspect of the present invention, in thevehicle interior lighting system, it is preferable that the predictingunit predicts a destination of the object person in the interior basedon the human body model estimated by the estimating unit, and theoperation controller turns on the lighting devices at the destinationpredicted by the predicting unit.

According to still another aspect of the present invention, in thevehicle interior lighting system, it is preferable that the operationcontroller turns off the lighting devices that have been turned on at anorigin of the object person when turning on the lighting devices at thedestination.

According to still another aspect of the present invention, in thevehicle interior lighting system, it is preferable that the predictingunit predicts an intention to end moving of the object person moving inthe interior based on the human body model estimated by the estimatingunit, and the operation controller terminates lighting of theilluminating unit according to the intention to end moving predicted bythe predicting unit.

According to still another aspect of the present invention, in thevehicle interior lighting system, it is preferable that a housing thatis provided on a surface of a ceiling of the vehicle on a side of theinterior and incorporates the imaging unit, the estimating unit, thepredicting unit, and the operation controller.

The above and other objects, features, advantages and technical andindustrial significance of this invention will be better understood byreading the following detailed description of presently preferredembodiments of the invention, when considered in connection with theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram illustrating a schematic configuration ofa vehicle interior to which a vehicle interior lighting system accordingto an embodiment is applied;

FIG. 2 is a schematic diagram illustrating the vehicle interior to whichthe vehicle interior lighting system according to the embodiment isapplied;

FIG. 3 is a block diagram illustrating a schematic configuration of thevehicle interior lighting system according to the embodiment;

FIG. 4 is a perspective view illustrating an appearance of the vehicleinterior lighting system according to the embodiment;

FIG. 5 is a diagram illustrating an example of a human body modelestimated by the vehicle interior lighting system according to theembodiment;

FIG. 6 is a schematic diagram illustrating an example of arrangement ofan illuminating unit in the interior of the vehicle interior lightingsystem according to the embodiment;

FIG. 7 is a diagram illustrating an example of operation of theilluminating unit of the vehicle interior lighting system according tothe embodiment;

FIG. 8 is a flowchart illustrating an example of control by a controllerof the vehicle interior lighting system according to the embodiment; and

FIG. 9 is a flowchart illustrating an example of estimation processingof a human body model of the vehicle interior lighting system accordingto the embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Embodiments of the present invention will be described below in detailwith reference to the drawings. This invention is not limited to theseembodiments. In addition, constituent elements in the embodimentsdescribed below include those that are replaceable by those skilled inthe art and easy, or those substantially identical.

Embodiments

Embodiments will be described with reference to FIGS. 1 to 5. FIG. 1 isa schematic diagram illustrating a schematic configuration of a vehicleinterior to which a vehicle interior lighting system according to anembodiment of the present invention is applied. FIG. 2 is a schematicdiagram illustrating the vehicle interior to which the vehicle interiorlighting system according to the embodiment is applied. FIG. 3 is ablock diagram illustrating a schematic configuration of the vehicleinterior lighting system according to the embodiment. FIG. 4 is aperspective view illustrating an appearance of the vehicle interiorlighting system according to the embodiment. FIG. 5 is a diagramillustrating an example of a human body model estimated by the vehicleinterior lighting system according to the embodiment. A direction of anarrow X illustrated in FIGS. 1 and 2 is a vehicle width direction of avehicle 100. A direction of an arrow Y illustrated in FIGS. 1 and 2 is aheight direction of the vehicle 100. A direction of an arrow Zillustrated in FIGS. 1 and 2 is a longitudinal direction (front-reardirection) of the vehicle 100. In the following description, the vehicle100 may be referred to as “the vehicle” in some cases.

A vehicle interior lighting system 1 according to the present embodimentillustrated in FIG. 1 is an in-vehicle system that is mounted in thevehicle 100 and executes various processing to an illuminating unit 50provided in an interior 101 of the vehicle 100. The vehicle interiorlighting system 1 controls lighting of the illuminating unit 50according to movement of an object person OB in the interior 101. Anobject person OB is a person who receives lighting service by thevehicle interior lighting system 1. An object person OB is an occupantwho gets into the interior 101 of the vehicle 100 and includes a driverof the vehicle 100 and fellow occupants other than the driver.

In the examples illustrated in FIGS. 1 and 2, the vehicle 100 includes adriver's seat 105, a front passenger seat 106, rear seats 107 in asecond row, and rear seats 108 in a third row. The vehicle 100 is, forexample, a vehicle capable of walk-through. In other words, the vehicle100 is a vehicle that allows movement in the interior 101 between therear seats 107 in the second row and the rear seats 108 in the third rowwithout tilting the seats. As an example, an object person OB of thepresent embodiment will be described as fellow occupants of the rearseats 107 and 108 of the vehicle 100. In the present embodiment, a casewhere the vehicle 100 is an automobile is described, but the vehicle 100may be a bus or a truck, for example.

In the example illustrated in FIG. 2, the vehicle 100 includes a reardoor 110 through which an object person OB gets on and off. The wholevehicle interior lighting system 1 of the present embodiment is providedon a surface of a ceiling 102 of the vehicle 100 on a side of theinterior 101 and constitutes an over-head module (OHM) integratingvarious functions.

Hereinafter, a configuration of the vehicle interior lighting system 1will be described in detail with reference to FIGS. 1, 2, 3, 4, and 5.

The vehicle interior lighting system 1 includes a housing 2, an imagingunit 3, an output unit 4, a lighting unit 5, an operating unit 6, anexternal connection unit 7, a controller 8, and the illuminating unit50. In addition, the vehicle interior lighting system 1 constituting theoverhead module may further include, for example, a wirelesscommunication unit, an antenna, and a power distribution unit. In thepresent embodiment, a case where the vehicle interior lighting system 1includes the lighting unit 5 and the illuminating unit 50 will bedescribed, but at least the illuminating unit 50 may be included.

The housing 2 houses a part of the vehicle interior lighting system 1.The housing 2 is formed in a hollow box shape as a whole by combining aplurality of members. The housing 2 is formed of a synthetic resinhaving insulating properties. Here, the housing 2 incorporates andhouses the imaging unit 3, the output unit 4, the lighting unit 5, theoperating unit 6, the external connection unit 7, and the controller 8inside and unitizes them as an overhead module. In the housing 2, a partof the imaging unit 3, the output unit 4, the lighting unit 5, theoperating unit 6, and the external connection unit 7 housed inside areexposed on an outer surface. The housing 2 of the present embodiment isprovided on a surface of the ceiling (roof panel) 102 of the vehicle 100on the side of the interior 101. The ceiling 102 is a structureconnected to a vehicle main body via, for example, a pillar andsupported on an upper side of the vehicle main body in a verticaldirection. The vehicle 100 is divided into the interior 101 and anexterior, with the ceiling 102 as a boundary on the upper side in thevertical direction. Here, for example, the housing 2 is provided at anintersection between the ceiling 102 and a windshield 103 and at asubstantially central position of the vehicle 100 in the vehicle widthdirection.

The imaging unit 3 includes a three-dimensional time of flight (TOF)camera, a range image sensor, and the like that measure a distance to anobject person OB in the interior 101 of the vehicle 100. The imagingunit 3 captures a depth image including pixels in which a distance to anobject person OB and a pixel value are associated with each other. Theimaging unit 3 of the present embodiment has a function of capturing adepth image that allows measurement of a three-dimensional position of aportion subject to monitoring of an object person OB in the interior101. A portion subject to monitoring includes, for example, a head andan upper body of an occupant. In the present embodiment, the imagingunit 3 enables capturing an image of an object person OB even in a darkenvironment by using the TOF camera. In the example illustrated in FIG.1, the imaging unit 3 sets the interior 101 of the vehicle 100 that canbe illuminated by the illuminating unit 50 as an imaging range R.

For example, the imaging unit 3 is provided in the housing 2 such that alens is arranged inside the housing 2 and an optical axis is directedtoward the driver's seat 105 and the rear seats 107 in the interior 101.Light from the imaging unit 3 and light received by the imaging unit 3are transmitted through a transmission unit of the housing 2. Theimaging unit 3 is electrically connected to the controller 8 and capableof exchanging electrical signals with each other, and operation of eachunit is controlled by the controller 8. For example, the imaging unit 3outputs a captured depth image to the controller 8. Note that theimaging unit 3 may be provided in the housing 2 such that a lens isexposed on the outer surface of the housing 2.

The output unit 4 outputs various kinds of information toward theinterior 101 of the vehicle 100. Here, the output unit 4 includes adisplay unit 41 and a speaker 42. The display unit 41 is a displaydevice that outputs visual information (graphic information, characterinformation). The display unit 41 is constituted by, for example, a thinliquid crystal display, a plasma display, and an organic EL display. Thespeaker 42 is an output device that outputs auditory information (voiceinformation, sound information). The display unit 41 and the speaker 42constituting the output unit 4 are electrically connected to thecontroller 8, respectively and capable of exchanging electrical signalswith each other, and operation of each unit is controlled by thecontroller 8.

The lighting unit 5 illuminates the interior 101 of the vehicle 100 andis, for example, a map lamp. The lighting unit 5 is electricallyconnected to the controller 8 and capable of exchanging electricalsignals with each other, and operation of each unit is controlled by thecontroller 8.

The operating unit 6 is an operating device that allows input of varioustypes of operation from the interior 101 of the vehicle 100. Theoperating unit 6 is constituted by, for example, a push button, acapacitive touch switch, and a non-contact type sensor such as aninfrared sensor. The operating unit 6 is electrically connected to thecontroller 8 and capable of exchanging electrical signals with eachother, and operation of each unit is controlled by the controller 8.

The external connection unit 7 is a section to which an electricaldevice external to the housing 2 is electrically connected. The externalconnection unit 7 is constituted by various types of connectors and aninterface unit. The illuminating unit 50 is electrically connected tothe external connection unit 7.

The illuminating unit 50 illuminates, for example, the rear seats 107and 108 in the interior 101 of the vehicle 100. The illuminating unit 50is electrically connected to the controller 8 via the externalconnection unit 7 and capable of exchanging electrical signals with eachother, and operation of each unit is controlled by the controller 8. Theilluminating unit 50 has a plurality of lighting devices 51. Thelighting devices 51 are arranged in the interior 101. The lightingdevices 51 of the present embodiment include downlights 52 and footlamps 53. The downlights 52 are the lighting devices 51 that areprovided on the ceiling 102 of the vehicle 100 and illuminate an areabelow where provided. The foot lamps 53 are the lighting devices 51 thatare provided on, for example, an edge of a floor of the vehicle 100 andilluminate feet of an object person OB. For example, the lightingdevices 51 may be one of the downlights 52 and the foot lamps 53 or mayinclude a room lamp. The downlights 52 and the foot lamps 53 of thepresent embodiment are switchable between a full lighting state of eachlight and each lamp and a first lighting state in which lighting isperformed with illuminance lower than the full lighting state.

The external connection unit 7 is electrically connected to anelectronic controller (ECU) that integrally controls each unit of thevehicle 100, a rear module that is provided at a position on a rear seatside of a surface of the ceiling 102 of the vehicle 100 on the side ofthe interior 101, and the like. The external connection unit 7 iselectrically connected to the controller 8 and an electric deviceexternal to the housing 2 and capable of exchanging electrical signalswith each other.

In the example illustrated in FIG. 3, in addition to the above-describedilluminating unit 50, for example, a state detecting device 200 iselectrically connected to the external connection unit 7. The statedetecting device 200 detects various kinds of information. The statedetecting device 200 detects, for example, vehicle state information andsurrounding state information. Vehicle state information is informationindicating a running state of the vehicle 100. Surrounding stateinformation is information indicating a surrounding state of the vehicle100. Vehicle state information may include, for example, vehicle speedinformation of the vehicle 100, seat belt information indicatingpresence or absence of a seat belt attachment, and stored charge amountinformation of a power storage device. Surrounding state information mayinclude, for example, information indicating illuminance around thevehicle 100 and surrounding environment.

The controller 8 is a section that integrally controls each unit of thevehicle interior lighting system 1. The controller 8 executes variousarithmetic processing relating to state monitoring of an object personOB and various supports. The controller 8 includes a central processingunit such as a central processing unit (CPU), a micro processing unit(MPU), an application specific integrated circuit (ASIC), and a fieldprogrammable gate array (FPGA), a read only memory (ROM), a randomaccess memory (RAM), and an electronic circuit mainly including awell-known microcomputer including an interface. The controller 8 iselectrically connected to the imaging unit 3, the output unit 4, thelighting unit 5, the operating unit 6, and the external connection unit7. The controller 8 can exchange with each unit various electric signalssuch as image signals corresponding to a depth image captured by theimaging unit 3 and drive signals for driving each unit.

Specifically, the controller 8 functionally and conceptually includes astorage unit 81 and a processor 82. The storage unit 81 and theprocessor 82 can exchange various kinds of information with variousdevices electrically connected. The storage unit 81 is a storage devicesuch as a memory. The storage unit 81 stores conditions and informationnecessary for various types of processing in the controller 8, variousprograms executed by the controller 8, and the like. The storage unit 81also stores visual information such as partial images displayed on thedisplay unit 41 and auditory information such as sounds output by thespeaker 42. The storage unit 81 can also temporarily store informationon a depth image captured by the imaging unit 3 and various informationacquired via the external connection unit 7. In the storage unit 81, theprocessor 82 reads various information as necessary. The processor 82executes various programs stored in the storage unit 81 based on, forexample, various input signals and outputs various output signals toeach unit by operating the programs to execute various processing forrealizing various functions.

In the example illustrated in FIG. 3, the storage unit 81 can storeprediction information 81 a and illumination arrangement information 81b. The prediction information 81 a is information in which a result oflearning a movement intention that an object person OB intends to moveis reflected by various methods using artificial intelligence techniquesand deep learning techniques In other words, the prediction information81 a is a database formed by various methods using artificialintelligence techniques and deep learning techniques in order to predicta movement intention of an object person OB. For example, a movementintention of an object person OB seated in a seat in the interior 101can be predicted by perceiving that a head of an object person OB isgreatly inclined forward, or that an upper body of an object person OBmoves in the interior 101. In addition, a movement intention can beclassified into, for example, an intention to start moving, an intentionto continue moving, and an intention to end moving. An intention tostart moving is a psychological effect of an object person OB whointends to start moving. An intention to start moving can be predictedby, for example, perceiving a movement of an object person OB to risefrom a seat to direct the upper body toward, for example, an aisle ofthe interior 101. Further, an intention to continue moving is apsychological effect of an object person OB who intends to continuemoving. An intention to continue moving can be predicted by, forexample, perceiving a movement of an object person OB to continue movingthe upper body. An intention to end moving is a psychological effect ofan object person OB who intends to end moving. An intention to endmoving can be predicted by, for example, perceiving a movement of anobject person OB to sit in a destination seat. In the presentembodiment, the prediction information 81 a is a database of informationfor perceiving movement according to a movement intention of an objectperson OB based on a three-dimensional human body model.

The illumination arrangement information 81 b is information indicatingarrangement of the lighting devices 51 of the illuminating unit 50 inthe interior 101. The illumination arrangement information 81 bincludes, for example, information indicating identification informationof each lighting device 51 of the illuminating unit 50 and positioninformation in the interior 101. An example of the illuminationarrangement information 81 b will be described later.

More specifically, the processor 82 functionally and conceptuallyincludes an estimating unit 83, a predicting unit 84, and an operationcontroller 85. By executing a program, the processor 82 realizes theestimating unit 83, the predicting unit 84, and the operation controller85.

The estimating unit 83 estimates a three-dimensional human body model ofan object person OB from a depth image captured by the imaging unit 3.For example, the estimating unit 83 extracts an object person OB from adepth image by a background subtraction method, Random Forest, a MeanShift method, pattern matching, or the like, and estimates a human bodymodel based on, for example, an outline of the object person OB. A humanbody model OBM illustrated in FIG. 5 is a model illustrating a skeletonposition of an object person OB. In the example illustrated in FIG. 5,the human body model OBM characteristically illustrates human body partsof a head, shoulders, elbows, hands, hips, knees and feet of an objectperson OB. The estimating unit 83 extracts an object person OB from adepth image based on a distance between pixels and pixel values of thedepth image and estimates a human body model OBM with attention to askeleton position of the object person OB. An example of estimationprocessing of a human body model OBM will be described later. Theestimating unit 83 estimates each human body part of the estimated humanbody model OBM and calculates three-dimensional coordinates of eachhuman body part in a three-dimensional space of the interior 101. Theestimating unit 83 stores the calculated three-dimensional coordinatesof each human body part in the storage unit 81 in association with aframe of a depth image.

The predicting unit 84 predicts a movement intention of an object personOB in the interior 101 based on a human body model OBM of an objectperson OB estimated by the estimating unit 83. For example, thepredicting unit 84 estimates an optical flow of a human body model OBMand perceives a state and a process of a human body model OBM based onthe optical flow. As a method for estimating an optical flow of a humanbody model OBM, for example, a Lucas Kanade method or a Hom-Schunkmethod can be used. Then, based on the perceived state and process of ahuman body model, the prediction information 81 a stored in a storageunit 81, and the like, the predicting unit 84 perceives a movement of ahuman body model OBM and predicts a movement intention of an objectperson OB according to the movement. For example, when perceiving amovement of a human body model OBM to rise from a seat to face toward anaisle, the predicting unit 84 predicts an intention to start moving as amovement intention of an object person OB. For example, when perceivinga movement of a human body model OBM to move down an aisle of theinterior 101, the predicting unit 84 predicts an intention to continuemoving as a movement intention of an object person OB. For example, whenperceiving a movement of a human body model OBM who has moved to sit ina seat, the predicting unit 84 predicts an intention to end moving as amovement intention of an object person OB. Further, the predicting unit84 predicts a destination of an object person OB in the interior 101based on a human body model OBM estimated by the estimating unit 83. Forexample, the predicting unit 84 predicts a destination of a human bodymodel OBM based on a position and a direction (moving direction) of ahuman body model OBM based on an optical flow and map information of theinterior 101. It should be noted that map information is informationindicating arrangement and coordinates of seats, an aisle, and the likein the interior 101 of the vehicle 100 and is stored in advance in thestorage unit 81. Further, for example, when an object person OB sittingon the rear seat 107 approaches the rear seat 108, the predicting unit84 predicts the rear seat 108, an aisle toward the rear seat 108, or thelike as a destination. The predicting unit 84 stores in the storage unit81 information indicating prediction results such as a movementintention and a destination of an object person OB.

The operation controller 85 is a section capable of executing operationcontrol processing. Operation control processing is processing forcontrolling operation of each unit of the vehicle interior lightingsystem 1 such as the imaging unit 3, the output unit 4, the lightingunit 5, and the operating unit 6. The operation controller 85 iselectrically connected to the imaging unit 3, the output unit 4 (thedisplay unit 41, the speaker 42), the lighting unit 5, the operatingunit 6, the external connection unit 7, and the storage unit 81. Theoperation controller 85 controls operation of the imaging unit 3 byoutputting a drive signal to the imaging unit 3 to make it possible tostart capturing of a depth image including an object person OB orterminate the capturing. Further, the operation controller 85 controlsoperation of the output unit 4 by outputting a drive signal to theoutput unit 4 (the display unit 41, the speaker 42) to make it possibleto display visual information on the display unit 41 or output auditoryinformation by the speaker 42. Further, the operation controller 85controls operation of the lighting unit 5 by outputting a drive signalto the lighting unit 5 to make it possible to turn on or off thelighting unit 5. Further, the operation controller 85 receives operationinput to the operating unit 6 based on an operation signal input fromthe operating unit 6 to make it possible to switch the lighting unit 5and the illuminating unit 50 on and off, switch display contents by thedisplay unit 41, or provide various settings.

Then, the operation controller 85 controls lighting of the illuminatingunit 50 by outputting driving signals such as a turn-on signal and aturn-off signal to the downlights 52 and the foot lamps 53 of theilluminating unit 50 via the external connection unit 7 to make itpossible to turn on or off the illuminating unit 50. The operationcontroller 85 can turn on/off the downlights 52 and the foot lamps 53constituting the lighting devices 51, respectively.

The operation controller 85 has a function of turning on the lightingdevice 51 near an object person OB whose intention to start moving andintention to continue moving are predicted by the predicting unit 84.For example, the operation controller 85 specifies a current position inthe interior 101 from three-dimensional coordinates of a human bodymodel OBM. Then, based on the specified current position, a direction(moving direction) of a human body model OBM, and the illuminationarrangement information 81 b, the operation controller 85 specifies thelighting device 51 to be turned on from among the lighting devices 51.In other words, based on the specified current position, a direction(moving direction) of a human body model OBM, and the illuminationarrangement information 81 b, the operation controller 85 specifies atleast one of the downlights 52 and the foot lamps 53 to be turned onfrom among the downlights 52 and the foot lamps 53. Then, the operationcontroller 85 turns on at least one of the specified downlights 52 andfoot lamps 53 via the external connection unit 7.

The operation controller 85 has a function of turning on the lightingdevice 51 at a destination predicted by the predicting unit 84. Forexample, the operation controller 85 specifies a destination in theinterior 101 from three-dimensional coordinates of a human body modelOBM. Then, based on a current position, the destination, and theillumination arrangement information 81 b, the operation controller 85specifies at least one of the downlights 52 and the foot lamps 53 to beturned on from among the downlights 52 and the foot lamps 53. Then, theoperation controller 85 turns on at least one of the specifieddownlights 52 and foot lamps 53.

The operation controller 85 has a function of turning off the lightingdevice 51 that has been turned on at an origin of an object person OBwhen turning on the lighting device 51 at a destination. For example,the operation controller 85 controls turning on/off of the downlights 52and the foot lamp 53 by storing lighting states of the downlights 52 andthe foot lamps 53 each in the storage unit 81.

The operation controller 85 has a function of terminating lighting ofthe illuminating unit 50 according to an intention to end movingpredicted by the predicting unit 84. When an intention to end moving ofan object person OB is predicted, the operation controller 85 terminateslighting service by the illuminating unit 50. For example, when thepredicting unit 84 predicts an intention to end moving, the operationcontroller 85 outputs a signal requesting all of the downlights 52 andthe foot lamps 53 to be turned off via the external connection unit 7.For example, when the predicting unit 84 predicts an intention to endmoving, the operation controller 85 may output a signal requesting thedownlight 52, the foot lamp 53, and the like that have been turned on tobe turned off via the external connection unit 7.

The operation controller 85 outputs a request signal to the statedetecting device 200 via the external connection unit 7 and can acquirethe above-described vehicle state information and surrounding stateinformation, for example. The operation controller 85 can controllighting of the illuminating unit 50 based on safety priority accordingto vehicle state information and surrounding state information, forexample. For example, when surroundings such as night are dark, when anobject person OB moves in the interior 101 while the vehicle 100 ismoving, the operation controller 85 can turn on the illuminating unit 50with the illuminating unit 50 in the above first lighting state. As aresult, by illuminating the illuminating unit 50 vaguely, the vehicleinterior lighting system 1 can prevent suddenly illuminating theinterior 101 brightly and astonishing surroundings. In addition, whensurroundings such as night are dark, when an object person OB moves inthe interior 101 while the vehicle 100 is stopped, the operationcontroller 85 can also turn on the illuminating unit 50 with theilluminating unit 50 in the above full lighting state. As a result, thevehicle interior lighting system 1 can improve visibility of an objectperson OB by illuminating the interior 101 more brightly than the firstlighting state by the illuminating unit 50.

Next, an example of arrangement of the illuminating unit 50 of thevehicle interior lighting system 1 will be described with reference toFIG. 6. FIG. 6 is a schematic diagram illustrating an example ofarrangement of the illuminating unit 50 in the interior 101 of thevehicle interior lighting system 1 according to the present embodiment.

In the example illustrated in FIG. 6, the vehicle interior lightingsystem 1 has a configuration where the rear seats 107 and 108 in theinterior 101 can be illuminated by the illuminating unit 50. In thiscase, the vehicle interior lighting system 1 is provided with thelighting devices 51 with the downlights 52 and the foot lamps 53arranged side by side along a traveling direction M of the vehicle 100.In the vehicle interior lighting system 1, downlights 52 a 1, 52 a 2, 52a 3, and 52 a 4 are provided above the rear seats 107 and 108 on a rightside of the interior 101 side by side from before backward in thevehicle 100. In the vehicle interior lighting system 1, downlights 52 b1, 52 b 2, 52 b 3, and 52 b 4 are provided above the aisle 130 betweenleft and right rear seats 107 and 108 side by side from before backwardin the vehicle 100. In the vehicle interior lighting system 1,downlights 52 c 1, 52 c 2, 52 c 3, and 52 c 4 are provided above therear seats 107 and 108 on a left side of the interior 101 side by sidefrom before backward in the vehicle 100. In the vehicle interiorlighting system 1, foot lamps 53 a 1 and 53 a 2 are provided side byside from before backward in the vehicle 100 near feet of the rear seats107 and 108 on the right side of the interior 101. In the vehicleinterior lighting system 1, foot lamps 53 b 1 and 53 b 2 are arrangedside by side from before backward in the vehicle 100 near the feet ofthe rear seats 107 and 108 on the left side of the interior 101.

In the present embodiment, the illumination arrangement information 81 bof the storage unit 81 includes identification information and positioninformation corresponding to each of the downlights 52 a 1, 52 a 2, 52 a3, 52 a 4, 52 b 1, 52 b 2, 52 b 3, 52 b 4, 52 c 1, 52 c 2, 52 c 3, and52 c 4. The illumination arrangement information 81 b includesidentification information and position information corresponding toeach of the foot lamps 53 a 1, 53 a 2, 53 b 1, and 53 b 2. Theillumination arrangement information 81 b is described in a case whereidentification information and position information are included, butinformation indicating a lighting range and illuminance of the lightingdevices 51, for example, may be included. For example, when a room lampis provided in the interior 101, the illumination arrangementinformation 81 b may include information on the room lamp.

Next, operation of the illuminating unit 50 of the vehicle interiorlighting system 1 according to the present embodiment will be describedwith reference to FIG. 7. FIG. 7 is a diagram illustrating an example ofthe operation of the illuminating unit 50 of the vehicle interiorlighting system 1 according to the embodiment.

In a scene of step S1 illustrated in FIG. 7, an object person OB risesfrom the rear seat 107 on the right side of the interior 101 and intendsto move an upper body toward the aisle 130 of the interior 101.

In the scene illustrated in step S1, the imaging unit 3 of the vehicleinterior lighting system 1 captures a depth image including the objectperson OB seated in the right-side rear seat 107. The estimating unit 83of the vehicle interior lighting system 1 estimates from the depth imagea human body model OBM of the object person OB seated in the rear seat107. In this case, the estimating unit 83 estimates a human body modelOBM rising from the right-side rear seat 107 and directing an upper bodytoward the aisle 130 of the interior 101. Then, based on the estimatedhuman body model OBM and the prediction information 81 a, the predictingunit 84 predicts an intention to start moving as a movement intention ofthe object person OB. Then, based on a current position and a direction(moving direction) of the human body model OBM in the interior 101 andthe illumination arrangement information 81 b, the operation controller85 specifies the downlights 52 a 1 and 52 b 1 close to and at adestination of the object person OB. Then, the operation controller 85outputs a turn-on signal to the specified downlights 52 a 1 and 52 b 1via the external connection unit 7. Then, the downlights 52 a 1 and 52 b1 are turned on in the first lighting state according to the turn-onsignal. As a result, the vehicle interior lighting system 1 canilluminate surroundings of the object person OB and a destination aheadthereof by the downlights 52 a 1 and 52 b 1.

In a scene of step S2, the object person OB moves from the rear seat 107on the right side of the interior 101 to the aisle 130 and moves alongthe rear seat 107 with the upper body directed backward in the vehicle100.

In the scene illustrated in step S2, the imaging unit 3 of the vehicleinterior lighting system 1 captures a depth image including the objectperson OB moving along the aisle 130 beside the rear seat 107. Theestimating unit 83 of the vehicle interior lighting system 1 estimatesfrom the depth image a human body model OBM of the object person OBmoving toward the rear seat 108. In this case, the estimating unit 83estimates a human body model OBM moving along the aisle 130 with theupper body directed backward in the vehicle 100. Then, based on theestimated human body model OBM and the prediction information 81 a, thepredicting unit 84 predicts an intention to continue moving as amovement intention of the object person OB. Then, based on a currentposition and a direction (moving direction) of the human body model OBMin the interior 101 and the illumination arrangement information 81 b,the operation controller 85 specifies the downlights 52 b 2 and 52 b 3close to and at a destination of the object person OB. Then, theoperation controller 85 outputs a turn-on signal to the specifieddownlights 52 b 2 and 52 b 3 via the external connection unit 7 andoutputs a turn-off signal to the downlights 52 a 1 and 52 b 1 that areturned on at an origin. Then, the downlights 52 b 2 and 52 b 3 areturned on in the first lighting state according to the turn-on signal.The downlights 52 a 1 and 52 b 1 are turned off according to theturn-off signal. As a result, the vehicle interior lighting system 1 canilluminate surroundings of the object person OB moving backward alongthe aisle 130 and a destination thereof by the downlights 52 b 2 and 52b 3.

In a scene of step S3, after moving backward along the aisle 130, theobject person OB moves the upper body towards the rear seat 108 on theleft side of the interior 101.

In the scene illustrated in step S3, the imaging unit 3 of the vehicleinterior lighting system 1 images a depth image including the objectperson OB that moves near the rear seat 108 along the aisle 130 anddirects the upper body toward the rear seat 108 on the left side of theinterior 101. The estimating unit 83 of the vehicle interior lightingsystem 1 estimates from the depth image a human body model OBM of theobject person OB moving toward the rear seat 108 on the left side of theinterior 101. Then, based on the estimated human body model OBM and theprediction information 81 a, the predicting unit 84 predicts anintention to continue moving as a movement intention of the objectperson OB. Then, based on a current position and a direction (movingdirection) of the human body model OBM in the interior 101 and theillumination arrangement information 81 b, the operation controller 85specifies the downlights 52 c 3 and 52 c 4 close to and at a destinationof the object person OB. Then, the operation controller 85 outputs aturn-on signal to the specified downlights 52 c 3 and 52 c 4 via theexternal connection unit 7 and outputs a turn-off signal to thedownlights 52 b 2 and 52 b 3 that are turned on at an origin. Thedownlights 52 c 3 and 52 c 4 are turned on in the first lighting stateaccording to the turn-on signal. The downlights 52 b 2 and 52 b 3 areturned off according to the turn-off signal. As a result, the vehicleinterior lighting system 1 can illuminate surroundings of the objectperson OB moving from the aisle 130 toward the rear seat 108 on the leftside of the interior 101 and the rear seat 108 or the destination by thedownlights 52 c 3 and 52 c 4.

In a scene of step S4, the object person OB is seated in the rear seat108 on the left side of the interior 101 with the upper body directedtoward a front of the vehicle 100.

In the scene illustrated in step S4, the imaging unit 3 of the vehicleinterior lighting system 1 captures a depth image including the objectperson OB seated in the rear seat 108 on the left side of the interior101. The estimating unit 83 of the vehicle interior lighting system 1estimates from the depth image a human body model OBM of the objectperson OB seated in the rear seat 108. Then, based on the estimatedhuman body model OBM and the prediction information 81 a, the predictingunit 84 predicts an intention to end moving as a movement intention ofthe object person OB. Then, the operation controller 85 outputs aturn-off signal to the illuminating unit 50 via the external connectionunit 7. The illuminating unit 50 turns off the downlights 52 c 3 and 52c 4 that are turned on. As a result, the vehicle interior lightingsystem 1 can terminate lighting by the illuminating unit 50 according toend of movement by the object person OB.

The vehicle interior lighting system 1 described above estimates athree-dimensional human body model OBM of an object person from a depthimage captured by the imaging unit 3, predicts a movement intention ofthe object person OB in the interior 101 based on the human body modelOBM, and controls lighting of the illuminating unit 50 according to themovement intention. As a result, the vehicle interior lighting system 1can illuminate the illuminating unit 50 according to the movementintention of the object person OB predicted from the three-dimensionalhuman body model OBM. Therefore, operation of the illuminating unit 50becomes unnecessary, and convenience of the object person OB moving inthe interior 101 can be improved.

In the vehicle interior lighting system 1, the operation controller 85turns on the lighting device 51 near an object person OB whose movementintention is predicted by the predicting unit 84. As a result, thevehicle interior lighting system 1 can allow the object person OB toperceive presence or absence of an obstacle around the object person OBindicating a movement intention and thus can prevent the object personOB from touching the obstacle.

In the vehicle interior lighting system 1, the predicting unit 84predicts a destination of an object person OB in the interior 101 basedon a human body model OBM estimated by the estimating unit 83, and theoperation controller 85 turns on the lighting device 51 at thedestination predicted by the predicting unit 84. As a result, thevehicle interior lighting system 1 turns on the lighting device 51 atthe predicted destination and causes an object person OB to perceive anobject placed at the destination to make it possible to prevent theobject person OB from breaking or touching the object. Therefore, safetyof an object person OB moving in the interior 101 can be improved.

In the vehicle interior lighting system 1, when turning on the lightingdevice 51 at a destination of an object person OB, the operationcontroller 85 turns off the lighting device 51 that has been turned onat an origin of the object person OB. As a result, the vehicle interiorlighting system 1 can improve, by enhancing the illuminating unit 50such that the lighting devices 51 are turned on or off according tomovement of an object person OB, convenience and a premium feel of theilluminating unit 50.

In the vehicle interior lighting system 1, the predicting unit 84predicts an intention to end moving of an object person OB moving in theinterior 101 based on a human body model OBM estimated by the estimatingunit 83, and the operation controller 85 terminates lighting of theilluminating unit 50 according to the intention to end moving predictedby the predicting unit 84. As a result, the vehicle interior lightingsystem 1 can terminate lighting of the illuminating unit 50 according toprediction of an intention to end moving of an object person OB.Therefore, even if an object person OB remains at a destination, it ispossible to prevent the lighting device 51 from being turned oncontinuously.

Since each unit of the vehicle interior lighting system 1 including theimaging unit 3, the estimating unit 83, the predicting unit 84, and theoperation controller 85 is provided in the housing 2, the whole vehicleinterior lighting system 1 can be unitized as an overhead module. Withthis configuration, the vehicle interior lighting system 1 can improvemountability in the vehicle 100.

Next, an example of control by the processor 82 in the controller 8 willbe described with reference to a flowchart of FIG. 8. FIG. 8 is aflowchart illustrating an example of control by the controller 8 of thevehicle interior lighting system 1 according to the embodiment. Theflowchart illustrated in FIG. 8 illustrates an example of a processingprocedure relating to control of the illuminating unit 50 according to amovement intention of an object person OB. The processing procedureillustrated in FIG. 8 is realized by executing a program by theprocessor 82. The processing procedure illustrated in FIG. 8 isrepeatedly executed by the processor 82.

First, the processor 82 in the controller 8 of the vehicle interiorlighting system 1 acquires a depth image captured by the imaging unit 3(step S101). Then, the processor 82 executes estimation processing forestimating a three-dimensional human body model OBM from the acquireddepth image (step S102). For example, the processor 82 extracts anobject person OB based on a distance and a pixel value of each pixel ofa depth image by executing estimation processing and estimates a humanbody model OBM with attention to a skeleton position of the objectperson OB. Details of the estimation processing will be described later.The processor 82 functions as the estimating unit 83 by executing theprocessing of step S102. Upon completion of the estimation processing,the processor 82 advances processing to step S103.

Based on the extracted human body model OBM, the processor 82 predicts amovement intention and a destination of the object person OB in theinterior 101 (step S103). For example, the processor 82 estimates anoptical flow of the human body model OBM and perceives a state and aprocess of the human body model OBM based on the optical flow. Based onthe perceived state and process, a position, and a direction of thehuman body model OBM, map information of the interior 101, theprediction information 81 a stored in the storage unit 81, and the like,the processor 82 perceives a movement of the human body model OBM andpredicts a movement intention and a destination of the object person OBaccording to the movement. For example, when perceiving a movement ofthe human body model OBM to rise from a seat to face toward an aisle,the processor 82 predicts an intention to start moving as a movementintention of the object person OB. For example, when perceiving amovement of the human body model OBM to move along the aisle of theinterior 101, the processor 82 predicts an intention to continue movingas a movement intention of the object person OB. For example, whenperceiving a movement of the human body model OBM who has moved to sitin a seat, the processor 82 predicts an intention to end moving as amovement intention of the object person OB. After storing the predictedmovement intention and a prediction result indicating a destination inthe storage unit 81, the processor 82 advances processing to step S104.

The processor 82 determines whether an intention to start moving ispredicted as a movement intention (step S104). For example, when theprediction result in step S103 indicates an intention to start moving,the processor 82 determines that an intention to start moving ispredicted. When determining that an intention to start moving ispredicted (Yes in step S104), the processor 82 advances processing tostep S105.

The processor 82 specifies the lighting devices 51 that illuminate aposition to start moving and a destination of the object person OB (stepS105). For example, the processor 82 specifies the lighting devices 51close to and at a destination of the object person OB, based on acurrent position and a direction (moving direction) of the estimatedhuman body model OBM in the interior 101 and the illuminationarrangement information 81 b. Then, the processor 82 turns on thespecified lighting devices 51 (step S106). For example, the processor 82outputs a turn-on signal for turning on the specified lighting devices51 to the illuminating unit 50 via the external connection unit 7. As aresult, based on the turn-on signal, the illuminating unit 50 turns onthe lighting device 51 near the object person OB who has started moving.Then, when turning on the specified lighting device 51, the processor 82terminates the processing procedure illustrated in FIG. 8.

When determining that an intention to start moving is not predicted as amovement intention (No in step S104), the processor 82 advancesprocessing to step S107. The processor 82 determines whether anintention to continue moving is predicted as a movement intention (stepS107). For example, when the prediction result in step S103 indicates anintention to continue moving, the processor 82 determines that anintention to continue moving is predicted. When determining that anintention to continue moving is predicted (Yes in step S107), theprocessor 82 advances processing to step S108.

The processor 82 specifies the lighting devices 51 that illuminate acurrent position and a destination of the object person OB (step S108).For example, the processor 82 specifies the lighting devices 51 close toand at a destination of the object person OB, based on a currentposition and a direction (moving direction) of the estimated human bodymodel OBM in the interior 101 and the illumination arrangementinformation 81 b. Then, the processor 82 turns on the specified lightingdevices 51 (step S109). Then, the processor 82 turns off the lightingdevice 51 that is turned on at an origin (step S110). For example, theprocessor 82 outputs a turn-off signal for turning off the lightingdevice 51 that has been turned on at an origin to the illuminating unit50 via the external connection unit 7. As a result, the illuminatingunit 50 turns on the lighting devices 51 close to and at a destinationof a moving object person OB based on a turn-on signal and turns off thelighting device 51 that is turned on at an origin based on a turn-offsignal. Then, when turning on the specified lighting device 51 andturning off the lighting device 51 at an origin, the processor 82terminates the processing procedure illustrated in FIG. 8.

When determining that an intention to continue moving is not predictedas a movement intention (No in step S107), the processor 82 advancesprocessing to step S111. The processor 82 determines whether anintention to end moving is predicted as a movement intention (stepS111). For example, when the prediction result in step S103 indicates anintention to end moving, the processor 82 determines that an intentionto end moving t is predicted. When determining that an intention to endmoving is not predicted (No in step S111), the processor 82 terminatesthe processing procedure illustrated in FIG. 8. When determining that anintention to end moving is predicted (Yes in step S111), the processor82 advances processing to step S112. The processor 82 terminateslighting of the illuminating unit 50 (step S112). For example, theprocessor 82 outputs a turn-off signal of the illuminating unit 50 viathe external connection unit 7. As a result, the illuminating unit 50turns off the lighting device 51 that is turned on. Then, whenterminating lighting of the illuminating unit 50, the processor 82terminates the processing procedure illustrated in FIG. 8.

Next, with reference to a flowchart of FIG. 9, an example of estimationprocessing of a human body model OBM executed by the processor 82 in thecontroller 8 will be described. FIG. 9 is a flowchart illustrating anexample of estimation processing of a human body model OBM of thevehicle interior lighting system 1 according to the embodiment. Theflowchart illustrated in FIG. 9 illustrates an example of a processingprocedure relating to an estimation method of a human body model OBM.The processing procedure illustrated in FIG. 9 is realized by executinga program by the processor 82. The processing procedure illustrated inFIG. 9 is activated by executing step S102 illustrated in FIG. 8 by theprocessor 82.

First, the processor 82 in the controller 8 of the vehicle interiorlighting system 1 extracts a human body area of an object person OB froma depth image (step S201). For example, the processor 82 compares adepth image captured by the imaging unit 3 with an interior image of theinterior 101 captured in advance using a well-known backgrounddifference method and extracts objects that do not exist in the interiorimage as a human body area. Upon extracting a human body area, theprocessor 82 advances processing to step S202.

The processor 82 specifies respective human body parts from theextracted human body area (step S202). For example, the processor 82specifies predetermined human body parts of a head, shoulders, elbows,hands, hips, knees, and feet from the human body area using a well-knownRandom Forest. When all human body parts are unable to be specifiedaccording to, for example, a direction and a posture of an object personOB, the processor 82 specifies specifiable human body parts. Uponcompletion of specification, the processor 82 advances processing tostep S203.

The processor 82 calculates three-dimensional coordinates of therespective human body parts in a three-dimensional space of the interior101 (step S203). For example, the processor 82 calculates a center ofgravity of each human body part using a well-known Mean Shift method andcalculates three-dimensional coordinates of the human body parts basedon the center of gravity and a distance indicated by pixels of a depthimage. After calculating three-dimensional coordinates of each humanbody part, the processor 82 advances processing to step S204.

The processor 82 connects the respective human body parts with oneanother to estimate a human body model OBM (step S204). When storinginformation indicating a human body model OBM in the estimatedthree-dimensional space of the interior 101 in the storage unit 81, theprocessor 82 terminates the processing procedure illustrated in FIG. 9.

The vehicle interior lighting system 1 according to the embodiment ofthe present invention described above is not limited to theabove-described embodiment, and various modifications are possiblewithin the scope described in the claims.

In the above description, the vehicle interior lighting system 1 hasbeen described with respect to control in which the illuminating unit 50provides lighting service when an object person OB in the rear seat 107moves in the interior 101, but the present invention is not limitedthereto. For example, the vehicle interior lighting system 1 may providelighting service by the illuminating unit 50 when an object person OB inthe driver's seat 105 moves backward in the interior 101.

In the above description, the vehicle interior lighting system 1 hasbeen described in a case where the illuminating unit 50 includes thelighting devices 51, but the present invention is not limited thereto.For example, the illuminating unit 50 may be a lighting device thatextends from the rear seat 107 to a back of the rear seat 108 in theinterior 101 and that can be partially turned on/off. Further, anilluminating unit may include the lighting unit 5 in addition to theilluminating unit 50 described above.

In the above description, the vehicle interior lighting system 1 hasbeen described in a case where the vehicle 100 is a vehicle having therear seats 107 and 108, but the present invention is not limitedthereto. For example, when the vehicle 100 is a freight car having aloading platform, the vehicle interior lighting system 1 may be providedwith the lighting devices 51 on, for example, a ceiling and a floor ofthe loading platform.

In the above description, the vehicle interior lighting system 1 hasbeen described as a system of which the whole is provided on the surfaceof the ceiling 102 of the vehicle 100 on the side of the interior 101and which constitutes an overhead module, but the present invention isnot limited to this. For example, the vehicle interior lighting system 1may have a configuration where the controller 8 is provided outside thehousing 2 and electrically connected to each unit via a wiring member.For example, when the controller 8 may be shared by a vehicle ECU thatintegrally controls each unit of the vehicle 100. Further, in thevehicle interior lighting system 1, the housing 2 may be provided on anentire surface of the ceiling 102 of the interior 101, and theilluminating unit 50 may be incorporated in the housing 2.

A vehicle interior lighting system according to the present embodimentestimates a three-dimensional human body model of an object person froma depth image captured by an imaging unit, predicts a movement intentionof an object person in an interior based on the human body model, andcontrols lighting of an illuminating unit according to the movementintention. As a result, the vehicle interior lighting system canilluminate the illuminating unit according to a movement intention of anobject person predicted from a three-dimensional human body model, sothat operation of the illuminating unit becomes unnecessary andconvenience of the object person who moves in a vehicle can be improved.

Although the invention has been described with respect to specificembodiments for a complete and clear disclosure, the appended claims arenot to be thus limited but are to be construed as embodying allmodifications and alternative constructions that may occur to oneskilled in the art that fairly fall within the basic teaching herein setforth.

What is claimed is:
 1. A vehicle interior lighting system comprising: anilluminating unit provided in an interior of a vehicle; an imaging unitthat captures a depth image including a distance to an object person inthe interior; an estimating unit that estimates a three-dimensionalhuman body model of the object person from the depth image captured bythe imaging unit; a predicting unit that predicts a movement intentionof the object person in the interior based on the human body modelestimated by the estimating unit; and an operation controller thatcontrols lighting of the illuminating unit according to the movementintention predicted by the predicting unit.
 2. The vehicle interiorlighting system according to claim 1, wherein the illuminating unit hasa plurality of lighting devices, and the operation controller turns onthe lighting devices near the object person whose movement intention ispredicted by the predicting unit.
 3. The vehicle interior lightingsystem according to claim 2, wherein the predicting unit predicts adestination of the object person in the interior based on the human bodymodel estimated by the estimating unit, and the operation controllerturns on the lighting devices at the destination predicted by thepredicting unit.
 4. The vehicle interior lighting system according toclaim 3, wherein the operation controller turns off the lighting devicesthat have been turned on at an origin of the object person when turningon the lighting devices at the destination.
 5. The vehicle interiorlighting system according to claim 1, wherein the predicting unitpredicts an intention to end moving of the object person moving in theinterior based on the human body model estimated by the estimating unit,and the operation controller terminates lighting of the illuminatingunit according to the intention to end moving predicted by thepredicting unit.
 6. The vehicle interior lighting system according toclaim 2, wherein the predicting unit predicts an intention to end movingof the object person moving in the interior based on the human bodymodel estimated by the estimating unit, and the operation controllerterminates lighting of the illuminating unit according to the intentionto end moving predicted by the predicting unit.
 7. The vehicle interiorlighting system according to claim 3, wherein the predicting unitpredicts an intention to end moving of the object person moving in theinterior based on the human body model estimated by the estimating unit,and the operation controller terminates lighting of the illuminatingunit according to the intention to end moving predicted by thepredicting unit.
 8. The vehicle interior lighting system according toclaim 4, wherein the predicting unit predicts an intention to end movingof the object person moving in the interior based on the human bodymodel estimated by the estimating unit, and the operation controllerterminates lighting of the illuminating unit according to the intentionto end moving predicted by the predicting unit.
 9. The vehicle interiorlighting system according to claim 1, further comprising: a housing thatis provided on a surface of a ceiling of the vehicle on a side of theinterior and incorporates the imaging unit, the estimating unit, thepredicting unit, and the operation controller.
 10. The vehicle interiorlighting system according to claim 2, further comprising: a housing thatis provided on a surface of a ceiling of the vehicle on a side of theinterior and incorporates the imaging unit, the estimating unit, thepredicting unit, and the operation controller.
 11. The vehicle interiorlighting system according to claim 3, further comprising: a housing thatis provided on a surface of a ceiling of the vehicle on a side of theinterior and incorporates the imaging unit, the estimating unit, thepredicting unit, and the operation controller.
 12. The vehicle interiorlighting system according to claim 4, further comprising: a housing thatis provided on a surface of a ceiling of the vehicle on a side of theinterior and incorporates the imaging unit, the estimating unit, thepredicting unit, and the operation controller.
 13. The vehicle interiorlighting system according to claim 5, further comprising: a housing thatis provided on a surface of a ceiling of the vehicle on a side of theinterior and incorporates the imaging unit, the estimating unit, thepredicting unit, and the operation controller.